I know you recommended LiPo but this is my first project and I'm not super comfortable using them. Would something like this work? https://www.componentshop.co.uk/6v-3300mah-sc-nimh-battery-pack-5-x-1.html
Like having 9 servos (about 23A max) on one driver board and 10 on the other (24A max), then each board having their own battery pack so 2 packs in total. The pack I've linked says the discharge current is 30A. Does that mean 30A is the maximum current for the battery pack? Like would it be able to support the amps required for the servos in the configuration I'm suggesting?